BodyAttributes.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_
#define DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_
 
#include <string>
 
#include <Eigen/Dense>
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/math/MathTypes.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Inertial.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Size;
 
struct BodyAttributes final
{
  std::optional<std::string> mName;
 
  std::optional<std::string> mChildClass;
 
  bool mMocap{false};
 
  std::optional<Eigen::Vector3d> mPos;
 
  Eigen::Quaterniond mQuat{Eigen::Quaterniond::Identity()};
 
  std::optional<Eigen::Vector4d> mAxisAngle;
 
  std::optional<Eigen::Vector3d> mEuler;
 
  std::optional<Eigen::Vector6d> mXYAxes;
 
  std::optional<Eigen::Vector3d> mZAxis;
 
  Eigen::VectorXd mUser;
 
  std::optional<Inertial> mInertial;
};
 
Errors appendBodyAttributes(
    BodyAttributes& attributes,
    tinyxml2::XMLElement* element,
    const std::optional<Size>& size);
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_